CN110549528A - end effector and feeding device - Google Patents
end effector and feeding device Download PDFInfo
- Publication number
- CN110549528A CN110549528A CN201910975826.2A CN201910975826A CN110549528A CN 110549528 A CN110549528 A CN 110549528A CN 201910975826 A CN201910975826 A CN 201910975826A CN 110549528 A CN110549528 A CN 110549528A
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- Prior art keywords
- sucker
- main mounting
- end effector
- workpiece
- cylinder
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- 239000012636 effector Substances 0.000 title claims abstract description 46
- 238000004891 communication Methods 0.000 claims description 21
- 238000001179 sorption measurement Methods 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000012840 feeding operation Methods 0.000 description 2
- 239000010687 lubricating oil Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000010074 rubber mixing Methods 0.000 description 2
- 238000004513 sizing Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 238000004073 vulcanization Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000004898 kneading Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C37/00—Component parts, details, accessories or auxiliary operations, not covered by group B29C33/00 or B29C35/00
- B29C37/02—Deburring or deflashing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/56—Stoppers or lids for bottles, jars, or the like, e.g. closures
Abstract
The invention provides an end effector and a feeding device. The feeding device comprises an end effector which comprises a main mounting frame, a sucker connecting frame, a sucker and a cylinder; the sucker connecting frame is rotatably arranged on one side of the main mounting frame; the sucker is mounted to the lower surface of the sucker connecting frame; the sucker comprises a sucker shell, the lower surface of the sucker shell is provided with profiling holes which are arranged in an array manner, all the profiling holes are communicated, and vent holes are formed in the surface of the sucker shell; the cylinder is fixed to on the main mounting bracket, the cylinder with the air vent intercommunication is used for making profile modeling hole produces the absorption negative pressure. The invention replaces the repeated operation of manual machines, reduces the labor intensity of workers, improves the production efficiency and improves the automation level of the production process.
Description
Technical Field
the invention relates to the technical field of manipulator feeding, in particular to an end effector and a feeding device.
Background
In the aspect of production and manufacture of medical consumables, the medicinal rubber plug is a sealing part and a leading-out part for medicament packaging, and the total amount of the injection rubber plug, the oral liquid rubber plug, the pre-encapsulation plug and the like used in China every year is nearly 1000 hundred million. The production process of the medicinal rubber is basically the same at home and abroad, and the process flow is as follows: the method comprises the following steps of material matching, rubber mixing, sizing material preforming, vulcanization forming, edge removing, cleaning and packaging.
as shown in fig. 1, which is a schematic structural diagram of the existing rubber plug curtain No. 1 vulcanized and formed by a vulcanizer, after the material matching process, the rubber mixing process, the sizing material pre-forming process and the vulcanization and forming process, the rubber plug curtain No. 1 manufactured and formed consists of 891 rubber plugs 91, and can be divided into 9 regions, and the arrangement forms of the rubber plugs in each region are completely the same. Cutting 9 areas of the No. 1 rubber plug curtain 90 into 9 small No. 2 rubber plug curtains 92 by using a special cutting machine, wherein the length and width of each No. 2 rubber plug curtain 92 are about 216 mm-220 mm; then, the No. 2 rubber plug curtain 92 is cut into individual rubber plugs 91 by a special edge removing machine.
as shown in fig. 2, which is a schematic structural view of a single rubber plug 91, each rubber plug 91 comprises a rubber plug cover 911 and a rubber plug column 912, wherein the rubber plug cover 911 is circular and has a diameter R1. The side of the rubber plug cover 911 of the rubber plug 91, which faces away from the rubber plug column 912, is connected with the No. 2 rubber plug curtain 92.
As shown in fig. 3, the structure of the female die plate mold 93 of the edge trimmer is schematically illustrated, the female die plate mold 93 of the edge trimmer is provided with a die hole 931 which is arranged in one-to-one correspondence with each rubber plug 91 on the No. 2 rubber plug curtain 92, the diameter of the die hole 931 is R2, the size of R2 is slightly smaller than R1, and the depth of the die hole 931 is larger than the thickness of the rubber plug cover 911. When feeding, each rubber plug 91 of the No. 2 rubber plug curtain 92 needs to be placed into a die hole 931 of a female die plate 93 of the edge removing machine, a rubber plug cover 911 of each rubber plug 91 is in interference fit with the die hole 931, and the rubber plug cover 911 is completely sunk into the die hole 931. And separating each rubber plug 91 of the No. 2 rubber plug curtain 92 by an edge removing machine to finish the edge removing process.
Most manufacturers adopt a manual feeding mode at the present stage, and the feeding operation is mainly repeated manually. The feeding operation is an uninterrupted simple and repeated action, interference fit is realized by forcibly pressing, labor consumed by manual long-term work is large, the working efficiency is low, the staff is required to keep mechanical action all the time in the feeding process, and extremely high requirements are provided for the patience and the care of the staff.
Therefore, it is necessary to replace some mechanical repetitive, simple and tedious processes with automated equipment, so as to reduce the personnel demand and improve the working efficiency.
In view of the above, there is a need for a new end effector and loading device that overcomes the problems of the prior art.
disclosure of Invention
The invention mainly aims to provide an end effector and a feeding device, which replace repeated operation of a manual machine, reduce the labor intensity of workers, improve the production efficiency and improve the automation level of the production process.
In order to achieve the above object, the present invention provides an end effector, which comprises a main mounting frame, a suction cup connecting frame, a suction cup and a cylinder; specifically, the sucker connecting frame is rotatably arranged on one side of the main mounting frame; the sucker is mounted to the lower surface of the sucker connecting frame; the sucker comprises a sucker shell, the lower surface of the sucker shell is provided with profiling holes which are arranged in an array manner, all the profiling holes are communicated, and vent holes are formed in the surface of the sucker shell; the cylinder is fixed to on the main mounting bracket, the cylinder with the air vent intercommunication is used for making profile modeling hole produces the absorption negative pressure.
furthermore, the sucker shell also comprises at least one transverse communicating pipe and at least one longitudinal communicating pipe; the horizontal communicating pipes are arranged above the profile modeling holes in rows, the projections of the horizontal communicating pipes are mutually overlapped with the projections of the plurality of profile modeling holes in the same row, and the horizontal communicating pipes are correspondingly connected with the profile modeling holes through the vent holes one by one; the longitudinal communicating pipes are communicated with the plurality of transverse communicating pipes in an intersecting manner; wherein one end of the transverse communication pipe and/or the longitudinal communication pipe forms the vent hole on the surface of the suction cup shell.
Further, the vent holes are formed at one end of the left side of the even number of rows of the transverse communication pipes on the surface of the sucker shell; and the air holes are formed at one end of the right side of the odd rows of the transverse communicating pipes on the surface of the sucker shell.
further, the end effector also comprises a light source bracket and a light bar; the light source bracket is mounted on the main mounting bracket; the lamp strip is arranged on the lower surface of the light source support.
Further, the end effector further comprises a guide rail, a slide block, a rack and a gear; the guide rail is arranged on one side, facing the main mounting frame, of the sucker connecting frame; the sliding block is arranged on the main mounting frame and can be clamped into the guide rail in a sliding manner; the rack is fixed on the side surface of the sucker connecting frame provided with the sliding block; the gear is rotatably mounted on the main mounting frame and meshed with the rack.
Further, the end effector further comprises an image sensor and a controller; the image sensor is mounted on the main mounting frame, and a lens of the image sensor faces the direction corresponding to the sucker and is used for acquiring an image of a workpiece to be adsorbed; the controller is fixed to the main mounting frame and is arranged adjacent to the sucker connecting frame; the controller is connected with the image sensor and the air cylinder and used for judging the distance and the angle between the sucker and the workpiece to be adsorbed according to the image of the workpiece to be adsorbed and controlling the air cylinder to suck air to generate adsorption negative pressure when the sucker is attached to the workpiece to be adsorbed.
Further, the controller comprises a distance calculation unit, an angle recognition unit and a cylinder control unit; specifically, the distance calculation unit is connected with the image sensor and used for judging the distance between the sucker and the workpiece to be sucked according to the size of the image of the workpiece to be sucked; the angle identification unit is connected with the image sensor and used for judging the angle between the sucker and the workpiece to be adsorbed according to the positions of two adjacent corners of the image of the workpiece to be adsorbed; the cylinder control unit is connected with the cylinder and used for controlling the cylinder to suck air to generate adsorption negative pressure when the sucker is attached to the workpiece to be adsorbed, and controlling the cylinder to blow back to normal pressure when the workpiece to be adsorbed is fed.
The controller further comprises a feeding judgment unit which is connected with the image sensor and used for judging whether the workpiece to be adsorbed is fed correctly or not through the relative position image of the sucker connecting frame and the main mounting frame; after the cylinder control unit controls the cylinder to blow back to normal pressure, if the relative position of the sucker connecting frame and the main mounting frame does not rotate, the accurate feeding is judged; and if the relative position of the sucking disc connecting frame and the main mounting frame rotates for an angle, judging that the end effector is not loaded correctly.
The invention also provides a feeding device which comprises the end effector and the robot, wherein the robot is rotatably connected with the main mounting frame.
Further, the robot comprises a base, a mechanical arm and a data processing device; the mechanical arm is rotatably connected with the base; the data processing equipment is arranged on the mechanical arm; the data processing equipment is connected with the controller of the end picking device and used for controlling the mechanical arm to rotate so as to adjust the angle of the end picking device.
The end effector and the feeding device provided by the invention have the beneficial effects that the end effector and the feeding device are used for picking up a workpiece to be adsorbed in an edge removing process to feed, so that repeated operation of manual machinery is replaced, the labor intensity of workers is reduced, the production efficiency is improved, and the automation level of the production process is improved.
drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic structural view of a No. 1 rubber plug curtain vulcanized and formed by a vulcanizing machine in the prior art;
FIG. 2 is a schematic structural view of a single rubber plug;
FIG. 3 is a schematic structural diagram of a female die plate mold of the edge removing machine;
Fig. 4 is a schematic bottom view of an end effector according to an embodiment of the present invention;
FIG. 5 is a schematic top view of an end effector according to an embodiment of the present invention;
Fig. 6 is a top view of an end effector in an embodiment of the present invention;
FIG. 7 is a top view of the chuck in an embodiment of the present invention;
FIG. 8 is a cross-sectional view at A-A of FIG. 7;
FIG. 9 is a schematic structural diagram of the controller according to the embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a loading device according to an embodiment of the present invention;
Fig. 11 is a schematic structural view of an edge trimmer.
The components in the figure are identified as follows:
10. An end effector 1, a main mounting frame 11, a positioning ring 2 and a sucker connecting frame,
3. A suction cup 31, a suction cup shell 32, a profiling hole 33, a vent hole 331, a quick connector,
34. A transverse communicating pipe 35, a connecting hole 36, a longitudinal communicating pipe 37 and a plug,
4. A cylinder 51, a light source bracket 52, a light bar 61, a guide rail 62 and a slide block,
63. A rack 64, a gear 65, an oil receiving box 7, an image sensor 8, a controller,
81. A distance calculation unit 82, an angle recognition unit 83, a cylinder control unit,
20. a robot, 21, a base, 22, a mechanical arm, 23, data processing equipment,
100. The method comprises the steps of a feeding device, 200, an edge removing machine, 201 and a female die plate mold.
Detailed Description
in the present invention, the same or corresponding components are denoted by the same reference numerals regardless of the figure numbers, and when the terms "first", "second", etc. may be used to describe various components throughout the specification, the components are not necessarily limited to the above terms. The above wording is only used to distinguish one component from another component.
the following description of the various embodiments refers to the accompanying drawings that illustrate specific embodiments in which the invention may be practiced. The directional terms mentioned in the present invention, such as [ upper ], [ lower ], [ front ], [ rear ], [ left ], [ right ], [ inner ], [ outer ], [ side ], are only referring to the directions of the attached drawings. Accordingly, the directional terms used are used for explanation and understanding of the present invention, and are not used for limiting the present invention. In the drawings, elements having similar structures are denoted by the same reference numerals.
referring to fig. 4 to 9, an end effector 10 is provided in an embodiment of the present invention, which is suitable for picking up a workpiece to be adsorbed in an edge removing process to perform a loading operation, and is particularly suitable for an edge removing process of a medical rubber plug, and mainly aims at loading a No. 2 rubber plug curtain onto an edge remover. The end effector 10 includes a main mounting frame 1, a suction cup attachment frame 2, a suction cup 3, and a cylinder 4. The end effector 10 is used for adsorbing and picking up the work piece of waiting to adsorb and carry out the material loading, in this implementation the work piece of waiting to adsorb is preferably No. 2 plug curtains promptly, the end effector 10 with wait to adsorb the work piece and carry out clearance fit, its unilateral clearance is 0.2mm at most. As shown in fig. 10, which is a schematic structural diagram of an edge trimming machine, the edge trimming machine 200 includes a female mold plate 201.
referring to fig. 4 to 8, specifically, a positioning ring 11 is disposed on the main mounting frame 1; the sucker connecting frame 2 is rotatably arranged on one side of the main mounting frame 1; the sucker 3 is arranged on the lower surface of the sucker connecting frame 2, preferably, the sucker 3 is connected to the sucker connecting frame 2 through a screw and is positioned by two positioning pins; the suction cup 3 comprises a suction cup shell 31, the lower surface of the suction cup shell 31 is provided with profiling holes 32 which are arranged in an array manner, all the profiling holes 32 are communicated, and a vent hole 33 is formed on the surface of the suction cup shell 31; the shape of the sucking disc 3 comprises a rectangle, a circle, a polygon or a trapezoid, the shape and the size of the sucking disc 3 are adapted to the shape and the size of a workpiece to be adsorbed, and the corresponding position tolerance of the sucking disc 3 and the workpiece to be adsorbed is preferably 0.02 mm; the cylinder 4 is fixed on the main mounting frame 1, and the cylinder 4 is communicated with the vent hole 33 and is used for generating adsorption negative pressure in the profiling hole 32; the cylinder diameter of the cylinder 4 is selected so as to ensure that the retraction tension of the cylinder 4 is slightly smaller than the gravity of the sucker 3 when the cylinder 4 is used.
A quick-connect plug 331 is further disposed outside the vent hole, and the quick-connect plug 331 is communicated with the cylinder 4 through a connecting air pipe (not shown), so that the cylinder 4 is communicated with the vent hole 33.
as shown in fig. 7 and 8, in the present embodiment, the suction cup housing 31 further includes at least one transverse communication pipe 34 and at least one longitudinal communication pipe 36; the horizontal communication pipes 34 are arranged above the contour holes 32 in rows, the projections of the horizontal communication pipes 34 are overlapped with the projections of the plurality of contour holes 32 in the same row, and the horizontal communication pipes 34 are correspondingly connected with the contour holes 32 through the connecting holes 35; the diameter of the connecting hole 35 is smaller than that of the contour hole 32, so that an adsorption cavity is formed in the contour hole 32; the longitudinal communication pipes 36 are in intersecting communication with the plurality of transverse communication pipes 34; wherein one end of the transverse communication pipe 34 and/or the longitudinal communication pipe 36 forms the vent hole 33 on the surface of the suction cup housing 31.
In this embodiment, the air vent 33 is formed on the surface of the suction cup housing 31 at one end of the left side of the even number of rows of the lateral communication pipes 34; the air vent 33 is formed on the surface of the suction cup housing 31 at one end of the right side of the odd-numbered rows of the lateral communication tubes 34.
a plug 37 is also provided in the vent hole 33 corresponding to the lateral communication tube 34. It is understood that, when the plug 37 is not provided, all the breather holes 33 communicate with the cylinder 4; when the plug 37 is arranged, the vent hole 33 corresponding to the longitudinal communicating pipe 36 is communicated with the cylinder 4, and the plug 37 seals the vent hole 33 with the end part exposed, so that the size of the adsorption negative pressure in the suction cup 3 can be ensured, and the situation that the negative pressure is insufficient during working can be avoided. In other embodiments, the plug 37 is preferably integrally formed with the suction cup housing 31.
referring to fig. 4 to 6, in the present embodiment, the end effector 10 further includes a light source bracket 51 and a light bar 52; the light source bracket 51 is mounted on the main mounting bracket 1; the light bar 52 is disposed on the lower surface of the light source bracket 51. Preferably, the light bar 52 is disposed around the edge of the lower surface of the light source bracket 51.
Referring to fig. 4 to 6, in the present embodiment, the end effector 10 further includes a guide rail 61, a slider 62, a rack 63 and a gear 64, wherein the guide rail 61 is disposed on a side of the suction cup connecting frame 2 facing the main mounting frame 1; the sliding block 62 is arranged on the main mounting frame 1, and the sliding block 62 can be clamped into the guide rail 61 in a sliding manner; the rack 63 is fixed on the side surface of the suction cup connecting frame 2 provided with the sliding block 62, preferably, the rack 63 is fixed on the suction cup connecting frame 2 through a screw; the gear 64 is rotatably mounted on the main mounting frame 1, and the gear 64 is meshed with the rack 63 to realize the rotary connection of the suction cup connecting frame 2 relative to the main mounting frame 1.
in order to avoid the mutual influence of the gear 64 and the slide 62, the gear 64 is preferably arranged in another region outside the guide rail 61. Meanwhile, lubricating oil is required to be added to the gear 64 and the rack 63 during use, so that an oil receiving box 65 is preferably further included for receiving the lubricating oil to prevent pollution.
To further increase the level of automation, the end effector 10 further comprises an image sensor 7 and a controller 8; the image sensor 7 is mounted on the main mounting frame 1, and a lens of the image sensor 7 faces to a direction corresponding to the sucker 3 and is used for acquiring an image of a workpiece to be adsorbed; the image sensor 7 is preferably a Ginz 2100w pixel image sensor with the resolution of 0.07mm/pix, and a protective cover of the image sensor 7 is fixedly arranged on the main mounting frame 1; according to experimental data, when the 2100w pixel image sensor is 450mm away from the right upper side of the rubber plug curtain, the No. 2 rubber plug curtain can be ensured to be just appeared in the visual field of the image sensor 7, and the recognition accuracy of the sensor can be ensured to be higher than 0.2 mm; the controller 8 is fixed on the main mounting frame 1 and is arranged adjacent to the sucker connecting frame 2; the controller 8 is connected with the image sensor 7 and the cylinder 4 and is used for judging the distance and the angle between the sucker 3 and the workpiece to be adsorbed according to the image of the workpiece to be adsorbed and controlling the cylinder 4 to suck air to generate adsorption negative pressure when the sucker 3 is attached to the workpiece to be adsorbed.
in other embodiments, the image sensor 7 may also be mounted to the light source holder 51, which saves space and connector length.
In other embodiments, the gear 64 may also be mounted to the housing of the controller 8, which may save space and connecting frame length.
As shown in fig. 9, in the present embodiment, the controller 8 includes a distance calculation unit 81, an angle recognition unit 82, and a cylinder control unit 83; specifically, the distance calculation unit 81 is connected to the image sensor 7, and is configured to determine the distance between the suction cup 3 and the workpiece to be sucked according to the size of the image of the workpiece to be sucked; the angle recognition unit 82 is connected with the image sensor 7 and is used for judging the angle between the sucker 3 and the workpiece to be adsorbed according to the positions of two adjacent corners of the image of the workpiece to be adsorbed; the air cylinder control unit 83 is connected with the air cylinder 4 and used for controlling the air cylinder 4 to suck air to generate adsorption negative pressure when the sucker 3 is attached to the workpiece to be adsorbed, and controlling the air cylinder 4 to blow back to normal pressure when the workpiece to be adsorbed is fed. Preferably, the cylinder 4 includes a pressure regulating valve (not shown) connected to an air inlet of the cylinder 4, and the cylinder control unit 83 is connected to the pressure regulating valve, and controls the suction pressure of the cylinder 4 by controlling the suction and the back flushing of the pressure regulating valve.
As shown in fig. 9, in this embodiment, the controller 8 further includes a loading determining unit 84, connected to the image sensor 7, for determining whether the workpiece to be adsorbed is loaded correctly according to the relative position image of the suction cup connection frame 2 and the main mounting frame 1; after the cylinder control unit 83 controls the cylinder 4 to blow back to normal pressure, if the relative position of the suction cup connecting frame 2 and the main mounting frame 1 does not rotate, the correct feeding is judged; if the relative position of the sucking disc connecting frame 2 and the main mounting frame 1 rotates by an angle, it is determined that the end effector 10 is not loaded correctly.
as shown in fig. 10, the present invention further provides a loading device 100, which comprises the end effector 10 and a robot 20, wherein the robot 20 is rotatably connected to the main mounting frame 1. Preferably, the robot 20 is connected to the positioning ring 11 on the main mounting frame 1.
As shown in fig. 10, in the present embodiment, the robot 20 includes a base 21, a robot arm 22, and a data processing device 23; the mechanical arm 22 is rotatably connected with the base 21; the robotic arm 22 is preferably a six-axis robotic arm; the data processing device 23 is arranged on the mechanical arm 22; the data processing device 23 is connected to the controller 8 of the end effector 10 for controlling the robot arm 22 to rotate to adjust the angle of the end effector 10.
in operation, after the image sensor 7 of the end effector 10 identifies the position of the workpiece to be adsorbed, the data processing device 23 controls the robot arm 22 to rotate to change the coordinate position, so as to align the suction cup 3 with the workpiece to be adsorbed. When the sucking disc 3 is aligned to be attached to the workpiece to be adsorbed, the air cylinder 4 sucks air to enable the profiling hole 32 of the sucking disc 3 to generate adsorption negative pressure to adsorb the workpiece to be adsorbed, the motion posture of the mechanical arm 22 is adjusted, when the end effector 10 adsorbs the workpiece to be adsorbed and puts the workpiece into the female template die of the edge removing machine, the small-amplitude kneading action of a human hand is simulated, the workpiece to be adsorbed and the female template die of the edge removing machine are in interference fit, and then the air cylinder 4 performs back blowing to separate the workpiece to be adsorbed and the sucking disc 3; when the end effector 10 is not properly loaded, the loading operation is repeated until the correct loading occurs.
the end effector 10 and the feeding device 100 provided by the invention have the beneficial effects that the end effector 10 and the feeding device 100 are used for picking up a workpiece to be adsorbed in an edge removing process to feed, so that repeated operation of manual machinery is replaced, the labor intensity of workers is reduced, the production efficiency is improved, and the automation level of the production process is improved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An end effector, comprising:
A main mounting frame;
The sucker connecting frame is rotatably arranged on one side of the main mounting frame;
A suction cup mounted to a lower surface of the suction cup connection frame; the sucker comprises a sucker shell, the lower surface of the sucker shell is provided with profiling holes which are arranged in an array manner, all the profiling holes are communicated, and vent holes are formed in the surface of the sucker shell; and
the cylinder is fixed to the main mounting frame, the cylinder with the air vent intercommunication is used for making the profile modeling hole produces and adsorbs the negative pressure.
2. The end effector as claimed in claim 1, further comprising within said suction cup housing:
The horizontal communication pipes are arranged above the profile modeling holes in a row, the projections of the horizontal communication pipes are mutually overlapped with the projections of the plurality of profile modeling holes in the same row, and the horizontal communication pipes are correspondingly connected with the profile modeling holes one by one through connecting holes; the at least one longitudinal communicating pipe is communicated with the plurality of transverse communicating pipes in an intersecting manner;
wherein one end of the transverse communication pipe and/or the longitudinal communication pipe forms the vent hole on the surface of the suction cup shell.
3. the end effector as claimed in claim 2,
The vent holes are formed in the surface of the sucker shell at one end of the left side of the even number of rows of the transverse communicating pipes;
And the air holes are formed at one end of the right side of the odd rows of the transverse communicating pipes on the surface of the sucker shell.
4. The end effector as claimed in claim 1, further comprising:
A light source bracket mounted to the main mounting bracket; and
the lamp strip is arranged on the lower surface of the light source support.
5. the end effector as claimed in claim 1, further comprising:
the guide rail is arranged on one side, facing the main mounting frame, of the sucker connecting frame;
the sliding block is arranged on the main mounting frame and can be clamped into the guide rail in a sliding manner;
The rack is fixed on the side surface of the sucker connecting frame, which is provided with the sliding block; and the gear is rotatably arranged on the main mounting frame and is meshed with the rack.
6. The end effector as claimed in claim 1, further comprising:
the image sensor is arranged on the main mounting frame, and a lens of the image sensor faces the direction corresponding to the sucker and is used for acquiring an image of a workpiece to be adsorbed; and
A controller fixed to the main mounting frame and disposed adjacent to the suction cup connection frame; the controller is connected with the image sensor and the air cylinder and used for judging the distance and the angle between the sucker and the workpiece to be adsorbed according to the image of the workpiece to be adsorbed and controlling the air cylinder to suck air to generate adsorption negative pressure when the sucker is attached to the workpiece to be adsorbed.
7. the end effector as claimed in claim 4, wherein said controller comprises:
The distance calculation unit is connected with the image sensor and used for judging the distance between the sucker and the workpiece to be adsorbed according to the size of the image of the workpiece to be adsorbed;
The angle recognition unit is connected with the image sensor and used for judging the angle between the sucker and the workpiece to be adsorbed according to the positions of two adjacent corners of the image of the workpiece to be adsorbed; and
and the cylinder control unit is connected with the cylinder and used for controlling the cylinder to suck air to generate adsorption negative pressure when the sucker is attached to the workpiece to be adsorbed, and controlling the cylinder to blow back to normal pressure when the workpiece to be adsorbed is fed.
8. the end effector as claimed in claim 7, wherein said controller further comprises:
the feeding judgment unit is connected with the image sensor and used for judging whether the workpiece to be adsorbed is fed correctly or not through the relative position image of the sucker connecting frame and the main mounting frame;
After the cylinder control unit controls the cylinder to blow back to normal pressure, if the relative position of the sucker connecting frame and the main mounting frame does not rotate, the accurate feeding is judged; and if the relative position of the sucking disc connecting frame and the main mounting frame rotates for an angle, judging that the end effector is not loaded correctly.
9. A loading device, comprising: the end effector of claim 1; and a robot rotatably connected to the main mounting frame.
10. The end effector as claimed in claim 9, wherein the robot includes:
A base;
The mechanical arm is rotatably connected with the base; the data processing equipment is arranged on the mechanical arm; the data processing equipment is connected with the controller of the end picking device and used for controlling the mechanical arm to rotate so as to adjust the angle of the end picking device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975826.2A CN110549528A (en) | 2019-10-15 | 2019-10-15 | end effector and feeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975826.2A CN110549528A (en) | 2019-10-15 | 2019-10-15 | end effector and feeding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110549528A true CN110549528A (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910975826.2A Pending CN110549528A (en) | 2019-10-15 | 2019-10-15 | end effector and feeding device |
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| CN (1) | CN110549528A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN211640696U (en) * | 2019-10-15 | 2020-10-09 | 青岛新松机器人自动化有限公司 | End effector and feeding device |
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| JPH10250823A (en) * | 1997-03-13 | 1998-09-22 | Nichiden Mach Ltd | Pickup device, conveying device, part item holding and fixing method and part item supply device using them |
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| JP2009233831A (en) * | 2008-03-28 | 2009-10-15 | Fuji Heavy Ind Ltd | Vacuum chuck |
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| CN207918000U (en) * | 2017-12-27 | 2018-09-28 | 宁波海迈克自动化科技有限公司 | A kind of metal profiling suction nozzle |
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